Adaptive backstepping control for parallel robot with uncertainties in dynamics and kinematics

Robotica ◽  
2014 ◽  
Vol 32 (6) ◽  
Author(s):  
Jing Zou ◽  
John K. Schueller
Keyword(s):  
Measurement Errors ◽  
Robot Manipulator ◽  
Kinematic Model ◽  
Parallel Robot ◽  
Joint Space ◽  
Backstepping Control ◽  
Adaptive Backstepping ◽  
Robot Tracking ◽  
Robot Systems ◽  
Backstepping Controller

SUMMARYIt is common in robot tracking control that controllers are designed based on the exact kinematic model of the robot manipulator. However, because of measurement errors and changes of states in practice, the original kinematic model is often no longer accurate and will degrade the control result. An adaptive backstepping controller is designed here for parallel robot systems with kinematics and dynamics uncertainties. Backstepping control is used to manage the transformation between the errors in task space and joint space. Adaptive control is utilized to compensate for uncertainties in both dynamics and kinematics. The controller demonstrated good performance in simulation.

scholarly journals Noncertainty Equivalent Adaptive Backstepping Control for Advanced Fighter Subject to Unsteady Effects and Input Constraints

2021 ◽  
Vol 2021 ◽  
pp. 1-18
Author(s):  
Chijun Zhou ◽  
Changxin Luo ◽  
Jikun Ye ◽  
Jihong Zhu ◽  
Humin Lei
Keyword(s):  
Unsteady Aerodynamics ◽  
Backstepping Control ◽  
Input Constraints ◽  
Adaptive Backstepping ◽  
Parameter Uncertainties ◽  
Adaptive Backstepping Control ◽  
Attitude Tracking ◽  
Control Scheme ◽  
Backstepping Controller ◽  
Unsteady Effects

This paper presents a noncertainty equivalent adaptive backstepping control scheme for advanced fighter attitude tracking, in which unsteady effects, parameter uncertainties, and input constraints are all considered which increase the design difficulty to a large extent. Based on unsteady attitude dynamics and the noncertainty equivalent principle, a new observer is first developed to reconstruct the immeasurable and time-varying unsteady states. Afterwards, the unsteady aerodynamics is compensated in the backstepping controller where the command filter is introduced to impose physical constraints on actuators. In order to further enhance the robustness, the noncertainty equivalent adaptive approach is again used to estimate the uncertain constant parameters. Moreover, stability of the closed-loop system that includes the state observer, parameter estimator, and backstepping controller is proven by the Lyapunov theorem in a unified architecture. Finally, simulation results show that performance of the deterministic control system can be captured when attractive manifolds are achieved. The effectiveness and robustness of the proposed control scheme are verified by the Herbst maneuver.

scholarly journals A new 3-D jerk chaotic system with two cubic nonlinearities and its adaptive backstepping control

2017 ◽  
Vol 27 (3) ◽  
pp. 409-439 ◽  
Author(s):  
Sundarapandian Vaidyanathan
Keyword(s):  
Lyapunov Exponents ◽  
Chaotic System ◽  
Backstepping Control ◽  
Phase Portraits ◽  
The Novel ◽  
Adaptive Backstepping ◽  
Unknown Parameters ◽  
Recursive Procedure ◽  
Backstepping Controller ◽  
Adaptive Backstepping Controller

AbstractThis paper presents a new seven-term 3-D jerk chaotic system with two cubic nonlinearities. The phase portraits of the novel jerk chaotic system are displayed and the qualitative properties of the jerk system are described. The novel jerk chaotic system has a unique equilibrium at the origin, which is a saddle-focus and unstable. The Lyapunov exponents of the novel jerk chaotic system are obtained as L1= 0:2974, L2= 0 and L3= −3:8974. Since the sum of the Lyapunov exponents of the jerk chaotic system is negative, we conclude that the chaotic system is dissipative. The Kaplan-Yorke dimension of the new jerk chaotic system is found as DKY= 2:0763. Next, an adaptive backstepping controller is designed to globally stabilize the new jerk chaotic system with unknown parameters. Moreover, an adaptive backstepping controller is also designed to achieve global chaos synchronization of the identical jerk chaotic systems with unknown parameters. The backstepping control method is a recursive procedure that links the choice of a Lyapunov function with the design of a controller and guarantees global asymptotic stability of strict feedback systems. MATLAB simulations are shown to illustrate all the main results derived in this work.

scholarly journals Optimal Trajectory Planning Analysis of Robot Manipulator Using PSO

2021 ◽  
Author(s):  
gurjeet singh ◽  
V. K. Banga
Keyword(s):  
Shortest Path ◽  
Kinematic Analysis ◽  
Inverse Kinematics ◽  
Robot Manipulator ◽  
Angular Displacement ◽  
Kinematic Model ◽  
Joint Space ◽  
Conventional Technique ◽  
Small Scale ◽  
Intermediate Point

Abstract For large- and small-scale industry, the major issue considered as to obtain the orientation and desire position of robot manipulators. The analysis of robotic manipulation requires two kinds of kinematic analysis namely inverse and forward kinematic analysis. This article aims to frame the inverse kinematic model of 5 DOF and 6 DOF robot manipulator. Planning of a movement flow has been designed followed by the evaluation of all the Denavit –Hartenberg (DH) parameter for the estimation of the desired orientation and position of the end effector. For the inverse Kinematics solution, conventional technique like DH notation, iteration and transformation were being utilized. The trajectory inverse kinematics minimization has been the main objective in this study and it has been achieved by Particle Swarm Optimization PSO. A quintic 5th order polynomial with joint space trajectory has been implemented in this study to find the paths for velocity and acceleration evaluation. Cartesian Trajectory is applied to the shortest path and get the transformation matrix for each intermediate point. Finally, the obstacle avoidance has been exhibited by PSO. The distance velocity, acceleration and angular displacement have been evaluated to analyse the shortest path and obstacle path avoidance.

scholarly journals Adaptive Backstepping Controller Design for Leveling Control of an Underwater Platform Based on Joint Space

2014 ◽  
Vol 2014 ◽  
pp. 1-13 ◽  
Author(s):  
Zhi-Lin Zeng ◽  
Guo-Hua Xu ◽  
Yin Zhao ◽  
Fei Xie
Keyword(s):  
High Precision ◽  
Controller Design ◽  
External Disturbance ◽  
Joint Space ◽  
Adaptive Backstepping ◽  
Parameter Uncertainties ◽  
Heavy Load ◽  
Backstepping Controller ◽  
Leveling Control ◽  
Adaptive Backstepping Controller

This paper focuses on high precision leveling control of an underwater heavy load platform, which is viewed as an underwater parallel robot on the basis of its work pattern. The kinematic of platform with deformation is analyzed and the dynamics model of joint space is established. An adaptive backstepping controller according to Lyapunov's function is proposed for leveling control of platform based on joint space. Furthermore, the “lowest point fixed angle error” leveling scheme called “chase” is chosen for leveling control of platform. The digital simulation and practical experiment of single joint space actuator are carried out, and the results show high precision servo control of joint space. On the basis of this, the platform leveling control simulation relies on the hardware-in-loop system. The results indicate that the proposed controller can effectively restrain the influence from system parameter uncertainties and external disturbance to realize high precision leveling control of the underwater platform.

The EKF Senorless Control Strategy of Permanent Magnet Synchronous Motor Adaptive Backstepping Control System

2012 ◽  
Vol 249-250 ◽  
pp. 1166-1172 ◽  
Author(s):  
Yang Ji
Keyword(s):  
Control System ◽  
Control Method ◽  
Permanent Magnet Synchronous Motor ◽  
Backstepping Control ◽  
Adaptive Backstepping ◽  
Static Performance ◽  
Backstepping Controller ◽  
The Mathematical Model ◽  
Adaptive Backstepping Controller ◽  
Method Show

For the unsatisfactory of the traditional linear control methods, on the basis of the mathematical model of PMSM, a combination of backstepping control method based on the Lyapunov function and adaptive control method is used in the speed control system of PMSM. A method of estimating the rotor position and speed based in extended Kalman filter (EKF) for PMSM is proposed. A simulation model of PMSM using the designed adaptive backstepping controller with EKF is built. The results of simulation using the control method show the preferably dynamic and stable-static performance of the system, and prove its effectiveness.

scholarly journals Non-Singular Assembly Mode Changing Trajectories of a 6-DOF Parallel Robot

2012 ◽  
Author(s):  
Stéphane Caro ◽  
Philippe Wenger ◽  
Damien Chablat
Keyword(s):  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Dimensional Space ◽  
Kinematic Model ◽  
Three Dimensional ◽  
Parallel Robot ◽  
Joint Space ◽  
Change Of Variables ◽  
Prismatic Joints ◽  
Moving Platform

This paper deals with the non-singular assembly mode changing of a six degrees of freedom parallel manipulator. The manipulator is composed of three identical limbs and one moving platform. Each limb is composed of three prismatic joints of directions orthogonal to each other and one spherical joint. The first two prismatic joints of each limb are actuated. The planes normal to the directions of the first two prismatic joints of each limb are orthogonal to each other. It appears that the parallel singularities of the manipulator depend only on the orientation of its moving platform. Moreover, the manipulator turns to have two aspects, namely, two maximal singularity free domains without any singular configuration, in its orientation workspace. As the manipulator can get up to eight solutions to its direct kinematic model, several assembly modes can be connected by non-singular trajectories. It is noteworthy that the images of those trajectories in the joint space of the manipulator encircle one or several cusp point(s). This property can be depicted in a three dimensional space because the singularities depend only on the orientation of the moving-platform and the mapping between the orientation parameters of the manipulator and three joint variables can be obtained with a simple change of variables. Finally to the best of the authors’ knowledge, this is the first spatial parallel manipulator for which non-singular assembly mode changing trajectories have been found and shown.

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